BAbout this program
Aero Hand Open is an open-source, tendon-driven robotic hand designed by TetherIA for dexterous manipulation research. Unlike expensive proprietary solutions, this hand focuses on simplicity, reliability, and accessibility — fully 3D-printed structure with off-the-shelf electronic components.
Key Specs: 7 DoF | 16 joints | 5 fingers | 389g | ESP32-S3 controller | 7× Feetech HLS3606M servos
Attribution: TetherIA Inc. — https://github.com/TetherIA/aero-hand-open
License: Design files (CAD/STL/BOM/docs) — CC BY-NC-SA 4.0 | Software (firmware/SDK) — Apache-2.0
Source: https://github.com/TetherIA/aero-hand-open
Docs: https://docs.tetheria.ai | Shop: https://shop.tetheria.ai
🖨 Print Files (12)
135degrees_adapter.stl
threaded_mount_adapter.stl
left_base_link.STL
left_t_link.STL
left_thumb_mcp_link.STL
left_thumb_proximal_link.STL
Required Hardware
| # | Item | Category | Material | Qty | Unit Cost | Total |
|---|---|---|---|---|---|---|
| 1 | Finger Base | 3D Printed | PLA | 4 | /bin/bash.02 | /bin/bash.10 |
| 2 | Finger MCP | 3D Printed | PLA | 4 | /bin/bash.02 | /bin/bash.06 |
| 3 | Finger Proximal | 3D Printed | PLA | 4 | /bin/bash.14 | /bin/bash.58 |
| 4 | Finger Medial | 3D Printed | PLA | 4 | /bin/bash.07 | /bin/bash.26 |
| 5 | Finger Distal | 3D Printed | PLA | 4 | /bin/bash.04 | /bin/bash.15 |
| 6 | Cable Spool | 3D Printed | PLA | 6 | /bin/bash.02 | /bin/bash.11 |
| 7-18 | Thumb parts (6 parts) | 3D Printed | PLA | various | — | — |
| 19 | Finger Distal Pad | Casting | 00-30 Silicone | 4 | /bin/bash.03 | /bin/bash.11 |
| 23 | Return Spring (PIP) | Purchased | Music Wire | 5 | .27 | 6.35 |
| 24 | Return Spring (MCP) | Purchased | Music Wire | 4 | .27 | 3.08 |
| 25 | Return Spring (CMC) | Purchased | Music Wire | 1 | .93 | .93 |
| 26 | Finger Pull Cable (Kevlar) | Purchased | Kevlar/Vectran | 3 | .29 | .29 |
| 32 | 2x5x2.5mm Bearing | Purchased | Steel | 23 | /bin/bash.52 | 1.997 |
| 33 | 1x10 Pin | Purchased | Steel | 16 | /bin/bash.158 | .53 |
| 37 | UNDERSIZED 2x10 Pin | Purchased | Steel | 19 | /bin/bash.156 | .96 |
| 40 | M2x6 Flanged Torx Screw | Purchased | Steel | 25 | /bin/bash.403 | 0.08 |
| 41 | M2x10 Countersunk Torx Screw | Purchased | Steel | 12 | /bin/bash.30 | .60 |
| 42 | M3x10 Rounded Torx Screw | Purchased | Steel | 9 | /bin/bash.118 | .06 |